Planting position determination method and device after turning of planting machine and planting machine

Abstract

The application provides a planting position determination method and device after turning of planting machinery and the planting machinery, and belongs to the technical field of agricultural machinery. The method is applied to the planting machinery, which comprises a vehicle body and a working part. The working part is located at the rear of the vehicle body, and comprises a planting mechanism for planting crops. The method comprises the following steps: after the turning of the vehicle body is completed and before the working part is controlled to perform planting operation, the actual driving distance of the planting machinery is acquired in real time; it is determined whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the turning of the vehicle body and the position of the planting mechanism perpendicular to the ground when the turning of the vehicle body is completed. In the case that it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after the turning is determined. The planting position can be accurately determined, the implementation is more simple and convenient, and the accuracy and reliability of the automatic operation system are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a method for determining the planting position after a planting machine turns, a device for determining the planting position after a planting machine turns, a planting machine, a machine-readable storage medium, and a processor. Background Technology

[0002] The inevitable trend in the development of agricultural mechanization is intelligentization. Automated operation of agricultural machinery is an important component of intelligent agricultural machinery and an inevitable requirement for the development of intelligent agricultural machinery.

[0003] Among them, planting machinery refers to mechanical equipment used for crop planting operations, such as rice transplanters and rice transplanters. When planting machinery is in operation, after each straight-line planting operation is completed, it is necessary to control the planting machinery to turn. After the turn is completed, before the next straight-line planting operation, it is necessary to observe whether the working part has reached the end point before the last turn to keep the crops longitudinally aligned.

[0004] Taking a rice transplanter as an example, during field operations, after each straight-line transplanting stroke, the vehicle reaches the field boundary and needs to turn while raising the working section and simultaneously cutting off the transplanting power output to prevent the working section from hitting the field ridge or damaging the transplanted seedlings. After the turn is completed, the next straight-line transplanting stroke will begin. The vehicle needs to be lowered again, and the operator must visually observe that the working section has reached the point where the transplanting ended before the last turn. Then, the transplanting power output is reconnected, allowing the working section to continue transplanting to maintain longitudinal alignment. This cycle repeats itself, with the operator reiterating the transplanting procedure each time the machine reaches the field boundary and completes a turn.

[0005] To reduce labor and visual costs, improve work efficiency, and simplify operational steps, it is essential to implement automated control for turning operations in planting machinery. Current technology detects the rotational speed of the machinery's drive shaft and then determines whether the machinery has reached the starting position for planting based on the spacing and quantity of crops in the direction orthogonal to the machinery's travel direction. This method suffers from several drawbacks: difficulty in installing the drive shaft rotation speed sensor, challenges in monitoring the spacing and quantity of seedlings in the direction orthogonal to the travel direction, and cumbersome monitoring methods. Summary of the Invention

[0006] The purpose of this invention is to provide a method for determining the planting position after a planting machine turns, a device for determining the planting position after a planting machine turns, a planting machine, a machine-readable storage medium, and a processor. This method for determining the planting position after a planting machine turns does not require the installation of a drive shaft rotation speed sensor, nor does it require monitoring the spacing and quantity of crops in the orthogonal direction of the travel direction, greatly reducing the monitoring steps and making implementation simpler and more convenient.

[0007] To achieve the above objectives, a first aspect of this application provides a method for determining the planting position of a planting machine after it turns, applied to a planting machine. The planting machine includes a vehicle body and a working part, the working part being located behind the vehicle body, and the working part including a planting mechanism for planting crops. The method for determining the planting position of the planting machine after it turns includes:

[0008] After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the actual travel distance of the planting machinery is obtained in real time.

[0009] Determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn.

[0010] If the actual driving distance is not less than the theoretical driving distance, the planting position after the turn is determined.

[0011] In this embodiment of the application, the step of acquiring the actual travel distance of the planting machinery in real time after the vehicle body completes its turn and before controlling the working part to perform the planting operation includes:

[0012] After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the timer is started to obtain the actual travel time;

[0013] The vehicle's speed is obtained in real time;

[0014] The actual travel distance of the planting machinery is calculated based on the actual travel time and the vehicle's speed.

[0015] In this embodiment of the application, calculating the actual travel distance of the planting machinery based on the actual travel time and the vehicle's speed includes:

[0016] The initial travel distance is calculated based on the actual travel time and the vehicle's travel speed.

[0017] Based on the vehicle's speed and a preset compensation function, the initial travel distance is compensated to obtain the actual travel distance of the planting machinery.

[0018] In this embodiment of the application, the step of compensating the initial travel distance based on the vehicle's travel speed and a preset compensation function to obtain the actual travel distance of the planting machinery includes:

[0019] The vehicle's speed is substituted into a preset compensation function to calculate the compensation coefficient.

[0020] The actual travel distance of the planting machinery is calculated by multiplying the compensation coefficient by the initial travel distance.

[0021] In this embodiment of the application, the preset compensation function is:

[0022] rate(v) = Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1,

[0023] Where, Δv x Δv y Δv z These represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel pivot caused by the magnitude of the steering wheel turning when the planting machinery turns, v is the vehicle speed, and rate(v) is the compensation coefficient.

[0024] In this embodiment of the application, after determining the planting position after the turn, the method for determining the planting position after the turn of the planting machinery further includes:

[0025] Control the working part to perform planting operations.

[0026] A second aspect of this application provides a device for determining the planting position of a planting machine after it turns, applied to a planting machine. The planting machine includes a vehicle body and a working part, the working part being located behind the vehicle body. The working part includes a planting mechanism for planting crops. The device for determining the planting position of the planting machine after it turns includes:

[0027] The acquisition module is used to acquire the actual travel distance of the planting machinery in real time after the vehicle body has completed turning and before the working part is controlled to carry out planting operations.

[0028] The judgment module is used to determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn.

[0029] The determination module is used to determine the planting position after the turn, provided that the actual driving distance is not less than the theoretical driving distance.

[0030] The third aspect of this application provides a planting machine, which uses the above-mentioned method for determining the planting position after the planting machine turns to determine the planting position.

[0031] A fourth aspect of this application provides an electronic device, the electronic device comprising:

[0032] At least one processor;

[0033] A memory connected to the at least one processor;

[0034] The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned method for determining the planting position after the planting machinery turns by executing the instructions stored in the memory.

[0035] A fifth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the above-described method for determining the planting position after the planting machinery turns.

[0036] The above technical solution acquires the actual travel distance of the planting machinery in real time after the vehicle completes a turn but before the planting operation begins. It then determines whether the actual travel distance is not less than the theoretical travel distance, which is the distance between the position of the planting mechanism perpendicular to the ground when planting is interrupted before the turn and the position of the planting mechanism perpendicular to the ground when the turn is complete. If the actual travel distance is determined to be not less than the theoretical travel distance, the planting position after the turn is determined. By determining whether the actual travel distance is not less than the theoretical travel distance after the turn, and if so, determining the planting position after the turn, the planting position can be accurately determined, aligning it with the planting position before the turn. Compared to the existing method of detecting the rotational speed of the drive shaft and then determining whether the vehicle has reached the position to resume planting based on the spacing and number of seedlings in the direction orthogonal to the vehicle's travel direction, this method does not require a drive shaft rotation speed sensor or monitoring of the spacing and number of crops in the direction orthogonal to the travel direction. This significantly reduces monitoring steps, makes implementation simpler and more convenient, and improves the accuracy and reliability of the automatic planting machinery system.

[0037] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 The illustration shows a flowchart of a method for determining the planting position after a planting machine turns, according to an embodiment of this application.

[0040] Figure 2 A schematic diagram illustrating a multi-sensor controller assembly according to an embodiment of this application is shown.

[0041] Figure 3 The schematic diagram illustrates the working principle according to an embodiment of this application;

[0042] Figure 4 This schematic diagram illustrates the structure of a planting position determination device for a planting machine after turning, according to an embodiment of this application.

[0043] Figure 5 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0044] Explanation of reference numerals in the attached figures

[0045] 410 - Acquisition module; 420 - Judgment module; 430 - Determination module; A01 - Processor; A02 - Network interface; A03 - Internal memory; A04 - Display screen; A05 - Input device; A06 - Non-volatile storage medium; B01 - Operating system; B02 - Computer program. Detailed Implementation

[0046] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0047] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0048] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0049] Please refer to Figure 1 , Figure 1 This illustration schematically shows a flowchart of a method for determining the planting position of a planting machine after turning, according to an embodiment of this application. This embodiment provides a method for determining the planting position of a planting machine after turning, applied to planting machinery, specifically intelligent planting machinery, and executed by a controller within the planting machinery. The planting machine can start timing after turning, and the timer stops when the distance traveled at the driving speed during the timing process is greater than or equal to the total travel distance, thus determining the planting position after the turning. The planting machine can be a rice transplanter, a rice broadcaster, etc. For ease of explanation, this embodiment mainly uses a rice transplanter as an example. It should be noted that the vehicle controller mentioned in this embodiment is the same as the overall vehicle controller.

[0050] This embodiment provides a method for determining the planting position of a planting machine after it turns, applied to a planting machine. The planting machine includes a vehicle body and a working part, the working part being located behind the vehicle body. The working part includes a planting mechanism for planting crops. The method for determining the planting position of the planting machine after it turns includes the following steps:

[0051] Step 210: After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the actual travel distance of the planting machinery is obtained in real time;

[0052] In this embodiment, the vehicle body serves as the foundation of the planting machinery, bearing the weight of the entire device and providing stable support for the working section. Simultaneously, the vehicle body is equipped with a power system and a walking mechanism, enabling free movement in farmland and adapting to different terrains and working environments. The vehicle body features a control system, allowing operators to control the planting machinery's direction, speed, and the operation of the working section via a steering wheel, joysticks, pedals, and other components. Different types of planting mechanisms are suitable for different crops and planting requirements. Taking the planting machinery as an example, the working section is the planting section, and the planting mechanism is the planting mechanism. The aforementioned completion of the vehicle body turning refers to the moment when the vehicle body has completed a U-turn and adjustment; specifically, this can be when the entire vehicle has turned around and the steering wheel has been straightened. After the vehicle body has completed the turn, the planting machinery continues to travel, and the distance traveled is recorded to obtain the actual travel distance of the planting machinery.

[0053] In some embodiments, in order to obtain accurate actual travel distance, the real-time acquisition of the actual travel distance of the planting machinery after the vehicle body completes a turn and before the working part is controlled to perform planting operations includes the following steps:

[0054] First, after the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the timer is started to obtain the actual travel time;

[0055] In this embodiment, the timing can be performed by the controller in the planting machinery, specifically by the timer inside the Vehicle Control Unit (VCU). Taking the planting machinery as an example, after the vehicle body completes its turn, the timer inside the VCU starts timing when the planting section begins to descend.

[0056] Then, the vehicle's speed is acquired in real time;

[0057] In this embodiment, the vehicle's speed refers to the average speed of the entire vehicle, which can be obtained by installing sensors on the drive wheels. The drive wheel speed can be detected by sensors on the drive wheels, which can calculate the wheel speed by detecting the number of rotations of the drive wheel, converting the rotational speed into the wheel speed using the gear ratio and tire radius. The vehicle can have multiple drive wheels, for example, two on the left and two on the right, and the angular velocity can be calculated based on the speeds of the left and right drive wheels. For example: Please refer to... Figure 2 , Figure 2 The diagram illustrates a simplified assembly of a multi-sensor controller according to an embodiment of this application. In the diagram, the left wheel speed detection sensor detects the number of rotations of the left output wheel of the rear axle, which is converted into the wheel speed Vleft of the left rear wheel through the gear ratio and tire radius. The right wheel speed detection sensor detects the number of rotations of the right output wheel of the rear axle, which is converted into the wheel speed Vright of the left rear wheel through the gear ratio and tire radius. Based on the wheel speeds of the left and right wheels, the angular velocity of the entire vehicle can be calculated as V = (Vleft + Vright) / 2, which is the driving speed.

[0058] Finally, based on the actual travel time and the vehicle's speed, the actual travel distance of the planting machinery is calculated.

[0059] In this embodiment, after obtaining the vehicle's speed, the displacement can be calculated using the speed and time, thus obtaining the actual travel distance of the planting machinery.

[0060] By starting a timer after the vehicle completes a turn and before the working part begins planting, the vehicle's speed can be acquired in real time, thus providing an accurate estimate of the actual distance traveled by the planting machinery. The vehicle's speed can be measured using left and right wheel speed sensors, which are easy to install and implement.

[0061] Considering that the planting machinery has multiple gears with different speeds, there are errors in the detection of left and right wheel speed sensors (Δv). Additionally, there is a delay error (Δt) in the controller of the planting machinery when sending commands to the lowering of the execution unit and when the clutch of the execution unit engages. Furthermore, there is an error (ΔS) in the longitudinal movement of the rear wheel pivot point caused by the magnitude of the steering wheel turn when the vehicle turns. All three errors will affect the alignment of the planting after turning. Therefore, it is necessary to compensate for the travel distance.

[0062] In some embodiments, calculating the actual travel distance of the planting machinery based on the actual travel time and the vehicle's speed includes the following steps:

[0063] The first step is to calculate the initial travel distance based on the actual travel time and the vehicle's speed;

[0064] The second step is to compensate for the initial travel distance based on the vehicle's travel speed and a preset compensation function, thereby obtaining the actual travel distance of the planting machinery.

[0065] The method of compensating for the initial travel distance based on the vehicle's speed and a preset compensation function to obtain the actual travel distance of the planting machinery includes:

[0066] First, the vehicle's speed is substituted into a preset compensation function to calculate the compensation coefficient;

[0067] Then, the compensation coefficient is multiplied by the initial travel distance to calculate the actual travel distance of the planting machinery.

[0068] The preset compensation function is expressed as follows:

[0069] rate(v) = Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1,

[0070] Where, Δv x Δv y Δv z These represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel pivot caused by the magnitude of the steering wheel turning when the planting machinery turns, v is the vehicle speed, and rate(v) is the compensation coefficient.

[0071] In this embodiment, since Δt is a systematic error and is not affected by external factors, Δt is a constant Δt1. Δv will affect the error effect with changes in speed, and ΔS will affect the error effect with an increase in the turning angle. Experiments have shown that the effect of ΔS error on the rice planting alignment effect is approximately a constant Δs1, that is, Δs1 is a constant. Δv = Δt1 / Δt2 x *v 2 +Δv y *v+Δv z Δv can be determined by establishing the compensation coefficient corresponding to the speed at each speed gear through several sets of experiments. x Δv y Δv z For example, with seven speed settings, seven sets of speed data can be measured, each set including the actual speed and the error speed. Then, these seven sets of speed data are substituted into the formula for Δv, and the coefficients are calculated using the data obtained from these seven experiments, thus obtaining Δv. x Δv y Δv z The value of .

[0072] By using the vehicle's speed and a preset compensation function, the initial travel distance is compensated for. This compensation function counteracts the effects of various errors, resulting in a more accurate actual travel distance and helping to precisely determine the planting position after the planting machinery turns. The compensation function also enables planting alignment at different speeds.

[0073] Step 220: Determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn.

[0074] In this embodiment, the above judgment may be to determine whether the difference between the theoretical driving distance and the actual driving distance is less than or equal to a preset value. The preset value may be a very small number, since the distance is a floating-point number. It can usually be a floating-point number less than a very small number as the judgment condition, such as 0.01. The specific value can be set according to the implementation situation, and this embodiment does not limit it.

[0075] Taking a rice transplanter as an example, when the transplanting unit begins to descend, the timer inside the vehicle control unit (VCU) starts timing. The timer continues until the distance traveled at speed V during the timing process (T) is greater than or equal to the total travel distance (S). At this point, the timer stops, and the VCU controls the transplanting clutch to engage. The determination of whether the actual travel distance is not less than the theoretical travel distance can be expressed as: SV*T <= 0.01.

[0076] Accordingly, in the above embodiment, considering the influence of errors, a compensation coefficient is calculated through a compensation function. The determination of whether the actual driving distance is not less than the theoretical driving distance can be expressed as: S - rate(v) * V * T <= 0.01. Here, S represents the theoretical driving distance; rate(v) is the compensation coefficient calculated using the compensation function based on the average driving speed at that time; v is the average speed, i.e., the vehicle's driving speed; and T is the time from the start to the end of the timer. The compensation function compensates for errors caused by speed and other factors during driving. When the VCU calculates that the above judgment expression is satisfied, the VCU controls the planting clutch to engage, ensuring proper planting alignment with a longitudinal error of ±10cm.

[0077] The theoretical driving distance is calculated as follows: the theoretical driving distance is calculated based on the distance between the center position of the rear wheel of the vehicle body and the position of the planting mechanism perpendicular to the ground.

[0078] In this embodiment, the theoretical driving distance is the distance between the center of the rear wheel of the vehicle body (twice the length of the vehicle body) and the position of the planting mechanism perpendicular to the ground. Please refer to... Figure 3 , Figure 3 This schematic diagram illustrates the working principle according to an embodiment of this application. Taking a rice transplanter as an example, when the vehicle needs to turn around on a field ridge, the front wheels make a large-angle turn. At this time, the position where the planting is interrupted is recorded as L1. If the steering wheel turns to the right, the turning trajectory of the vehicle is with the right rear wheel as the fulcrum, and the vehicle turns around. When the steering wheel returns to center, the planting part automatically lowers. At this time, the position of the planting mechanism perpendicular to the ground at the moment the planting part lowers is recorded as L2. When the vehicle has completed the turn and adjustment, the center axis of the rear wheel should be in a straight line with the center axis of the rear wheel before the turn. At this time, to complete the alignment of the planting position, the vehicle should move forward a distance S between L1 and L2. Figure 2 As shown in the schematic diagram of the working principle, the distance between L1 and L2 is twice the distance M from the center of the rear wheel to the planting mechanism of the planting part perpendicular to the ground, that is, S = 2 * M.

[0079] The theoretical driving distance can be easily calculated by the distance between the center of the rear wheel of the vehicle and the position of the planting mechanism perpendicular to the ground. This theoretical driving distance is a constant value, which reduces the amount of calculation and helps to quickly determine the planting position after turning.

[0080] Step 230: If the actual driving distance is not less than the theoretical driving distance, determine the planting position after the turn.

[0081] In this embodiment, if the actual driving distance is not less than the theoretical driving distance (i.e., the actual driving distance exceeds the theoretical driving distance), it indicates that alignment has been achieved, and the planting position after the turn can be determined as the current actual driving position. If the actual driving distance is less than the theoretical driving distance, then driving continues.

[0082] In the above implementation process, after the vehicle body completes the turn and before the working part begins the planting operation, the actual travel distance of the planting machinery is acquired in real time. It is then determined whether the actual travel distance is not less than the theoretical travel distance, where the theoretical travel distance is the distance between the position of the planting mechanism perpendicular to the ground when planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn. If the actual travel distance is determined to be not less than the theoretical travel distance, the planting position after the turn is determined. By determining whether the actual travel distance is not less than the theoretical travel distance after the turn, and determining the planting position after the turn if the actual travel distance is not less than the theoretical travel distance, the planting position can be accurately determined, ensuring alignment with the planting position before the turn. Compared to the existing technology that detects the rotational speed of the drive shaft and then determines whether the vehicle body has reached the position to resume planting based on the spacing and number of seedlings in the direction orthogonal to the vehicle body's travel direction, this method does not require a drive shaft rotation speed sensor or monitoring of the spacing and number of crops in the direction orthogonal to the travel direction. This significantly reduces monitoring steps, makes implementation simpler and more convenient, and improves the accuracy and reliability of the automatic operation system for planting machinery. By compensating for the travel distance using a compensation function, the effects of various errors can be offset, thereby achieving the effect of rice planting alignment at different speeds and helping to accurately determine the planting position after the planting machinery turns.

[0083] In some embodiments, after determining the planting position after the turn, the method for determining the planting position after the turn of the planting machinery further includes controlling the working part to perform planting operations.

[0084] In this embodiment, after determining the planting position after the turn, the planting machinery automatically controls the working part to perform the planting operation. Alternatively, a third-party driver assistance system can send a working clutch engagement command to the planting machinery, which then responds to the command and controls the working part to perform the planting operation. Controlling the working part to perform the planting operation means that the alignment position has been determined after the turn, and planting begins. The specific control process is determined by the design of the planting machinery and is existing technology, so it will not be elaborated here. Taking a rice transplanter as an example, after obtaining the planting position after the turn, the driver assistance controller of the third-party driver assistance system sends a working clutch engagement command to the VCU (Vehicle Control Unit) of the rice transplanter, allowing the working part to automatically perform the planting operation.

[0085] It should be noted that the aforementioned third-party assisted driving system can control the automatic turning operation of planting machinery. Taking a rice transplanter as an example, the assisted driving controller in the third-party assisted driving system can communicate with the transplanter's vehicle body controller (VCU) via a Controller Area Network (CAN) bus. When the third-party assisted driving system has planned the working path, before turning, the assisted driving controller sends a command to the vehicle body controller (VCU) to raise the working part, causing it to automatically rise and recording its coordinates. After the turn is completed, the assisted driving controller sends a command to the vehicle body controller (VCU) to lower the working part, causing it to automatically descend. Once the vehicle reaches the recorded coordinates, the assisted driving controller sends a command to the vehicle body controller (VCU) to engage the working clutch, allowing the working part to automatically perform the planting operation. This completes the automatic turning operation control of the third-party assisted driving system.

[0086] By controlling the working part to perform planting operations in response to the working clutch engagement command after obtaining the planting position after turning, the longitudinal alignment of crops can be precisely controlled.

[0087] Figure 1 This is a flowchart illustrating the method for determining the planting position after the planting machinery turns, as illustrated in this embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0088] This embodiment provides a planting machine, and the planting position is determined by the above-mentioned method for determining the planting position after the planting machine turns.

[0089] In this embodiment, the above-mentioned planting machinery can be agricultural planting machinery such as rice transplanters and rice throwers.

[0090] By determining whether the actual travel distance is not less than the theoretical travel distance after a turn, and if the actual travel distance is not less than the theoretical travel distance, the planting position after the turn can be determined. This allows for accurate determination of the planting position, ensuring that the planting position is aligned with the planting position before the turn, thus improving the accuracy and reliability of the automated planting machinery system.

[0091] This embodiment provides a device for determining the planting position of a planting machine after it turns, applied to a planting machine. The planting machine includes a body and a working part, the working part being located behind the body. The working part includes a planting mechanism for planting crops. The device for determining the planting position of the planting machine after it turns includes an acquisition module 410, a judgment module 420, and a determination module 430, wherein:

[0092] The acquisition module 410 is used to acquire the actual travel distance of the planting machinery in real time after the vehicle body has completed turning and before the working part is controlled to carry out planting operations.

[0093] The judgment module 420 is used to determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns.

[0094] The determining module 430 is used to determine the planting position after turning, provided that the actual driving distance is not less than the theoretical driving distance.

[0095] The planting position determination device after the planting machinery turns includes a processor and a memory. The acquisition module 410, judgment module 420 and determination module 430 are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the corresponding functions.

[0096] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and kernel parameters can be adjusted to align the planting position with the position before the turn.

[0097] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0098] This invention provides a machine-readable storage medium storing a program that, when executed by a processor, implements a method for determining the planting position after the planting machinery turns.

[0099] This invention provides a processor for running a program, wherein the program executes a method for determining the planting position after the planting machinery turns.

[0100] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown in the figure, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a method for determining the planting position after a planting machine turns. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0101] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0102] In one embodiment, the planting position determination method and apparatus after turning of planting machinery provided in this application can be implemented as a computer program, and the computer program can be implemented as follows: Figure 5 The method runs on the computer device shown. The computer device's memory can store the various program modules that make up the device for determining the planting position after the planting machinery turns, for example, Figure 4 The acquisition module 410, judgment module 420, and determination module 430 are shown. The computer program composed of these modules causes the processor to execute the steps in the method for determining the planting position after the planting machinery turns, as described in the various embodiments of this application.

[0103] Figure 5 The computer device shown can be used as follows Figure 4 The acquisition module 410 in the device for determining the planting position after the planting machinery turns executes step 210. The computer device can execute step 220 via the judgment module 420. The computer device can execute step 230 via the determination module 430.

[0104] This application provides an electronic device comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the above-mentioned method for determining the planting position after a planting machine turns by executing the instructions stored in the memory, applicable to a planting machine, the planting machine comprising a vehicle body and a working part, the working part being located behind the vehicle body, the working part including a planting mechanism for planting crops; the processor executes the instructions to perform the following steps:

[0105] After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the actual travel distance of the planting machinery is obtained in real time.

[0106] Determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn.

[0107] If the actual driving distance is not less than the theoretical driving distance, the planting position after the turn is determined.

[0108] In one embodiment, acquiring the actual travel distance of the planting machinery in real time after the vehicle body completes its turn and before controlling the working part to perform the planting operation includes:

[0109] After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the timer is started to obtain the actual travel time;

[0110] The vehicle's speed is obtained in real time;

[0111] The actual travel distance of the planting machinery is calculated based on the actual travel time and the vehicle's speed.

[0112] In one embodiment, calculating the actual travel distance of the planting machinery based on the actual travel time and the vehicle's speed includes:

[0113] The initial travel distance is calculated based on the actual travel time and the vehicle's travel speed.

[0114] Based on the vehicle's speed and a preset compensation function, the initial travel distance is compensated to obtain the actual travel distance of the planting machinery.

[0115] In one embodiment, the step of compensating the initial travel distance based on the vehicle's speed and a preset compensation function to obtain the actual travel distance of the planting machinery includes:

[0116] The vehicle's speed is substituted into a preset compensation function to calculate the compensation coefficient.

[0117] The actual travel distance of the planting machinery is calculated by multiplying the compensation coefficient by the initial travel distance.

[0118] In one embodiment, the preset compensation function is:

[0119] rate(v) = Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1,

[0120] Where, Δv x Δv y Δv z These represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel pivot caused by the magnitude of the steering wheel turning when the planting machinery turns, v is the vehicle speed, and rate(v) is the compensation coefficient.

[0121] In one embodiment, after determining the planting position after the turn, the method for determining the planting position of the planting machinery after the turn further includes:

[0122] Control the working part to perform planting operations.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0131] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining the planting position after a planting machine turns, characterized in that, This is applied to planting machinery, which includes a vehicle body and a working section. The working section is located at the rear of the vehicle body and includes a planting mechanism for planting crops. The method for determining the planting position after the planting machinery turns includes: After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the actual travel distance of the planting machinery is obtained in real time. Determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn. If the actual driving distance is not less than the theoretical driving distance, the planting position after the turn is determined.

2. The method for determining the planting position after the planting machinery turns, as described in claim 1, is characterized in that, The step of acquiring the actual travel distance of the planting machinery in real time after the vehicle body completes its turn and before the working part is controlled to perform the planting operation includes: After the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the timer is started to obtain the actual travel time; The vehicle's speed is obtained in real time; The actual travel distance of the planting machinery is calculated based on the actual travel time and the vehicle's speed.

3. The method for determining the planting position after the planting machinery turns, as described in claim 2, is characterized in that... The calculation of the actual travel distance of the planting machinery based on the actual travel time and the vehicle's speed includes: The initial travel distance is calculated based on the actual travel time and the vehicle's travel speed. Based on the vehicle's speed and a preset compensation function, the initial travel distance is compensated to obtain the actual travel distance of the planting machinery.

4. The method for determining the planting position after the planting machinery turns, as described in claim 3, is characterized in that... The method of compensating for the initial travel distance based on the vehicle's travel speed and a preset compensation function to obtain the actual travel distance of the planting machinery includes: The vehicle's speed is substituted into a preset compensation function to calculate the compensation coefficient. The actual travel distance of the planting machinery is calculated by multiplying the compensation coefficient by the initial travel distance.

5. The method for determining the planting position after the planting machinery turns, as described in claim 3, is characterized in that... The preset compensation function is: ， in, , , These represent the compensation values ​​corresponding to different orders. This is the system delay error. The error in the longitudinal movement of the rear wheel pivot caused by the magnitude of the steering wheel turn when the planting machinery turns is v, where v is the vehicle speed and rate(v) is the compensation coefficient.

6. The method for determining the planting position after the planting machinery turns, as described in claim 1, is characterized in that... After determining the planting position after the turn, the method for determining the planting position of the planting machinery after the turn also includes: Control the working part to perform planting operations.

7. A device for determining the planting position after a planting machine turns, characterized in that, An application to planting machinery, the planting machinery including a vehicle body and a working part, the working part being located at the rear of the vehicle body, the working part including a planting mechanism for planting crops; the planting position determination device after the planting machinery turns includes: The acquisition module is used to acquire the actual travel distance of the planting machinery in real time after the vehicle body has completed turning and before the working part is controlled to carry out planting operations. The judgment module is used to determine whether the actual driving distance is not less than the theoretical driving distance. The theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn. The determination module is used to determine the planting position after the turn, provided that the actual driving distance is not less than the theoretical driving distance.

8. A planting machine, characterized in that, The planting position is determined by the method for determining the planting position after the planting machinery turns, as described in any one of claims 1-6.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; A memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the planting position determination method after the planting machinery turns, as described in any one of claims 1 to 6, by executing the instructions stored in the memory.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the method for determining the planting position after the planting machinery turns, as described in any one of claims 1 to 6.

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